Stability Criteria and Motor Performance in Delayed Haptic Dyadic Interactions Mediated by Robots
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| Main Authors: | , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866908613981765632 |
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| author | Du, Mingtian Kulkarni, Suhas Raghavendra Kager, Simone Campolo, Domenico |
| author_facet | Du, Mingtian Kulkarni, Suhas Raghavendra Kager, Simone Campolo, Domenico |
| contents | This paper establishes analytical stability criteria for robot-mediated human-human (dyadic) interaction systems, focusing on haptic communication under network-induced time delays. Through frequency-domain analysis supported by numerical simulations, we identify both delay-independent and delay-dependent stability criteria. The delay-independent criterion guarantees stability irrespective of the delay, whereas the delay-dependent criterion is characterised by a maximum tolerable delay before instability occurs. The criteria demonstrate dependence on controller and robot dynamic parameters, where increasing stiffness reduces the maximum tolerable delay in a non-linear manner, thereby heightening system vulnerability. The proposed criteria can be generalised to a wide range of robot-mediated interactions and serve as design guidelines for stable remote dyadic systems. Experiments with robots performing human-like movements further illustrate the correlation between stability and motor performance. The findings of this paper suggest the prerequisites for effective delay-compensation strategies. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2510_14511 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Stability Criteria and Motor Performance in Delayed Haptic Dyadic Interactions Mediated by Robots Du, Mingtian Kulkarni, Suhas Raghavendra Kager, Simone Campolo, Domenico Robotics Systems and Control This paper establishes analytical stability criteria for robot-mediated human-human (dyadic) interaction systems, focusing on haptic communication under network-induced time delays. Through frequency-domain analysis supported by numerical simulations, we identify both delay-independent and delay-dependent stability criteria. The delay-independent criterion guarantees stability irrespective of the delay, whereas the delay-dependent criterion is characterised by a maximum tolerable delay before instability occurs. The criteria demonstrate dependence on controller and robot dynamic parameters, where increasing stiffness reduces the maximum tolerable delay in a non-linear manner, thereby heightening system vulnerability. The proposed criteria can be generalised to a wide range of robot-mediated interactions and serve as design guidelines for stable remote dyadic systems. Experiments with robots performing human-like movements further illustrate the correlation between stability and motor performance. The findings of this paper suggest the prerequisites for effective delay-compensation strategies. |
| title | Stability Criteria and Motor Performance in Delayed Haptic Dyadic Interactions Mediated by Robots |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2510.14511 |